JP2015223995A - Unmanned flight body for photographing - Google Patents

Unmanned flight body for photographing Download PDF

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JP2015223995A
JP2015223995A JP2014111414A JP2014111414A JP2015223995A JP 2015223995 A JP2015223995 A JP 2015223995A JP 2014111414 A JP2014111414 A JP 2014111414A JP 2014111414 A JP2014111414 A JP 2014111414A JP 2015223995 A JP2015223995 A JP 2015223995A
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photographing
unmanned aerial
aerial vehicle
unmanned
leg
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石橋　久義
Hisayoshi Ishibashi
久義 石橋
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Kumagai Gumi Co Ltd
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Kumagai Gumi Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide an unmanned flight body for photographing which can stably photograph an investigation object.SOLUTION: An unmanned flight body 2 for photographing includes an unmanned flight body 20, a photographing device 30 mounted on the unmanned flight body 20, and three or more legs 40 provided on the unmanned flight body, and photographs an investigation object while flying. The flight body 2 is so configured as to maintain a photographing attitude with respect to the investigation object by photographing the investigation object in the state where a leg end 42 of the leg 40 is brought into contact with the investigation object.

Description

本発明は、無人飛行体（ＵＡＶ（Unmanned Aerial Vehicle））に撮影装置を搭載した撮影用無人飛行体に関するものである。   The present invention relates to an unmanned aerial vehicle for photographing in which a photographing device is mounted on an unmanned aerial vehicle (UAV (Unmanned Aerial Vehicle)).

カメラやビデオカメラ等の撮影装置を搭載した撮影用無人飛行体を用いて撮影を行うことが知られている（例えば特許文献１乃至３等参照）。
一方、近年、トンネル、橋梁、ダム、道路等のインフラストラクチャーの老朽化が顕在化してきており、これらインフラストラクチャーの調査対象部の劣化状況を上述した撮影用無人飛行体を用いて撮影し、当該撮影データを検証して当該調査対象部の補修等が必要か否かを判断することも試みられている。 It is known to perform shooting using a shooting unmanned air vehicle equipped with a shooting device such as a camera or a video camera (see, for example, Patent Documents 1 to 3).
On the other hand, in recent years, the deterioration of infrastructure such as tunnels, bridges, dams, roads, etc. has become obvious, and the deterioration situation of the investigation target part of these infrastructures is photographed using the above-described unmanned aerial vehicles for photographing. Attempts have also been made to determine whether or not the inspection target part needs to be repaired by examining the photographing data.

特開２００５−２６９４１３号公報JP 2005-269413 A 特開２００６−０２７３３１号公報JP 2006-027331 A 特開２００６−０２７４４８号公報Japanese Patent Laid-Open No. 2006-027448

しかしながら、従来の撮影用無人飛行体は、調査対象部から離れて空中に浮いた状態で調査対象部を撮影するので、安定性が悪い。特に撮影用無人飛行体が風を受けた場合に煽られるので、撮影用無人飛行体の撮影姿勢が不安定になり、調査対象部の撮影を安定に行うことができないという課題があった。
本発明は、調査対象部の撮影を安定に行える撮影用無人飛行体を提供する。 However, since the conventional unmanned air vehicle for photographing shoots the investigation target portion in a state of floating in the air away from the investigation target portion, the stability is poor. In particular, since the unmanned aerial vehicle for shooting is beaten when receiving wind, the shooting posture of the unmanned aerial vehicle for shooting becomes unstable, and there is a problem that it is not possible to stably shoot the investigation target part.
The present invention provides an unmanned air vehicle for photographing that can stably photograph an investigation target portion.

本発明に係る撮影用無人飛行体は、無人飛行体と、無人飛行体に搭載された撮影装置と、無人飛行体に設けられた３本以上の脚とを備え、飛行しながら調査対象部を撮影する撮影用無人飛行体であって、調査対象部に脚の脚端部を接触させた状態で調査対象部を撮影することにより、調査対象部に対する撮影姿勢を維持可能なように構成されたので、調査対象部の撮影を安定に行える撮影用無人飛行体となる。
また、脚は、調査対象部に脚端部が接触した状態で調査対象部に押し付けられた場合に撓むように構成され、調査対象部上において撮影用無人飛行体を移動させたい任意の方向とは反対側に位置する脚を撓ませて当該撮影用無人飛行体の機体を傾けることによって当該撮影用無人飛行体を任意の方向に推進させるための推進力が当該撮影用無人飛行体に付与されるように構成されたので、調査対象部上において撮影用無人飛行体を容易に移動させることが可能となる。
また、脚端部は、調査対象部上を転動可能な車輪を備えたので、調査対象部上において撮影用無人飛行体をより容易に移動させることが可能となる。
さらに、脚は無人飛行体の機体より上方に突出し、無人飛行体が上昇して調査対象部としての構造物の下面まで移動した場合に、脚端部が当該下面に接触するように構成されたので、調査対象部としての構造物の下面の撮影を安定に行え、かつ、当該下面上で撮影用無人飛行体を容易に移動させることが可能な撮影用無人飛行体を得ることができる。 An unmanned aerial vehicle for photographing according to the present invention includes an unmanned aerial vehicle, a photographing device mounted on the unmanned aerial vehicle, and three or more legs provided on the unmanned aerial vehicle. An unmanned aerial vehicle for photographing, and configured to be able to maintain the photographing posture with respect to the investigation target part by photographing the investigation target part with the leg end of the leg in contact with the investigation target part Therefore, it becomes an unmanned air vehicle for photographing that can stably photograph the investigation target portion.
Further, the leg is configured to bend when pressed against the investigation target portion in a state where the leg end portion is in contact with the investigation target portion, and an arbitrary direction in which the unmanned flying object for photographing is desired to move on the investigation target portion. A propulsive force for propelling the unmanned aerial vehicle for photographing in any direction is imparted to the unmanned aerial vehicle for photographing by bending the leg located on the opposite side and tilting the airframe of the unmanned air vehicle for photographing. Since it was comprised in this way, it becomes possible to move the imaging | photography unmanned air vehicle easily on an investigation object part.
In addition, since the leg end portion includes wheels that can roll on the investigation target portion, it is possible to move the photographing unmanned aerial vehicle more easily on the investigation target portion.
Furthermore, the leg protrudes upward from the airframe of the unmanned aerial vehicle, and when the unmanned aerial vehicle rises and moves to the lower surface of the structure as the investigation target portion, the leg end portion is configured to contact the lower surface. Therefore, it is possible to obtain a photographing unmanned air vehicle that can stably photograph the lower surface of the structure as the investigation target portion and that can easily move the photographing unmanned air vehicle on the lower surface.

撮影用無人飛行体を示す斜視図（実施形態１）。The perspective view which shows the unmanned flying body for imaging | photography (Embodiment 1). （ａ）は撮影用無人飛行体による調査対象部の撮影状態を示す図、（ｂ）は撮影用無人飛行体が調査対象部上を移動する移動時の状態を示す図（実施形態１）。(A) is a figure which shows the imaging state of the investigation object part by the imaging | photography unmanned air vehicle, (b) is a figure which shows the state at the time of the movement which the imaging | photography unmanned air vehicle moves on an investigation object part (Embodiment 1). 撮影用無人飛行体の移動時の状態を示す図（実施形態２）。The figure which shows the state at the time of the movement of the unmanned air vehicle for imaging | photography (Embodiment 2). 撮影用無人飛行体を備えた無人飛行撮影装置を示す図（実施形態３）。The figure which shows the unmanned flight imaging device provided with the unmanned flying body for imaging | photography (Embodiment 3).

実施形態１
図１に示すように、実施形態１による撮影用無人飛行体２は、無人飛行体２０と、調査対象部１０を撮影するためのカメラやビデオカメラ等の撮影装置３０と、３本以上の脚４０とを備えた構成である。
即ち、撮影用無人飛行体２は、無人飛行体２０と、無人飛行体２０に搭載された撮影装置３０と、無人飛行体２０に設けられた脚４０とを備え、飛行しながら調査対象部１０を撮影する。
調査対象部１０は、例えば、従来、コンクリート構造物のひび割れ等の目視検査において足場を必要としていた高架橋の橋梁床版の下面やトンネルの天井面等のコンクリート劣化状況調査対象面である。 Embodiment 1
As shown in FIG. 1, the unmanned aerial vehicle for photographing 2 according to the first embodiment includes an unmanned aerial vehicle 20, a photographing device 30 such as a camera or a video camera for photographing the investigation target unit 10, and three or more legs. 40.
That is, the imaging unmanned air vehicle 2 includes the unmanned air vehicle 20, the imaging device 30 mounted on the unmanned air vehicle 20, and the legs 40 provided on the unmanned air vehicle 20. Shoot.
The investigation target portion 10 is, for example, a concrete degradation state investigation target surface such as a lower surface of a viaduct bridge slab or a ceiling surface of a tunnel, which conventionally requires a scaffold in visual inspection such as cracking of a concrete structure.

無人飛行体２０は、少なくとも、機体２１と、複数のローター（回転翼）２２と、各ローター２２の図外のモーター等の回転駆動源と、各ローター２２の回転及び停止を制御する図外の制御装置と、ランディングギア２９と、を備えた構成である。   The unmanned aerial vehicle 20 includes at least an airframe 21, a plurality of rotors (rotary blades) 22, a rotational drive source such as an unillustrated motor of each rotor 22, and an unillustrated control that controls the rotation and stop of each rotor 22. The configuration includes a control device and a landing gear 29.

尚、無人飛行体２０は、制御方式として、自律制御飛行タイプ、あるいは、遠隔操縦によって飛行する遠隔操縦制御タイプ等があり、どちらの制御タイプのものを用いても構わない。
また、無人飛行体２０は、電源供給方式として、図外の電源を搭載した電源搭載タイプと、後述するように電源ケーブルを介して電源が供給される外部電源タイプ等があり、どちらの電源供給タイプのものを用いても構わない。
自律制御飛行タイプの場合、例えば、図外のＧＰＳ受信機（ＧＰＳ衛星から送信された電波を受信するＧＰＳアンテナと、ＧＰＳアンテナで受信した電波に基づいてＧＰＳ受信機を搭載した無人飛行体２０の位置情報を算出するＧＰＳモジュールとを備える）及びジャイロセンサーと、図外の制御装置とを備え、プログラミングされた設定ルートを飛行するために、制御装置がＧＰＳ受信機及びジャイロセンサーから入力した無人飛行体２０の位置情報や姿勢情報に基づいて各ローター２２の回転及び停止を制御することによって自律飛行を行うように構成されている。
遠隔操縦制御タイプの場合、図外の制御装置と図外の遠隔操縦機とを備え、制御装置が遠隔操縦機からの指令を受信して各ローター２２の回転及び停止を制御することによって遠隔操縦による飛行を行うように構成されている。 The unmanned air vehicle 20 has an autonomous control flight type, a remote control control type that flies by remote control, or the like as a control method, and any control type may be used.
Further, the unmanned air vehicle 20 has a power supply method of a power supply type in which a power supply not shown in the figure is mounted and an external power supply type in which power is supplied via a power cable as will be described later. You may use the type.
In the case of the autonomous control flight type, for example, a GPS receiver (not shown) (a GPS antenna that receives a radio wave transmitted from a GPS satellite and an unmanned air vehicle 20 equipped with a GPS receiver based on the radio wave received by the GPS antenna) Unmanned flight input from the GPS receiver and the gyro sensor in order to fly the programmed setting route, and a gyro sensor and a control device (not shown). It is configured to perform autonomous flight by controlling the rotation and stop of each rotor 22 based on the position information and posture information of the body 20.
In the case of the remote control type, the remote control includes a control device (not shown) and a remote control device (not shown), and the control device receives commands from the remote control and controls the rotation and stop of each rotor 22 to perform remote control. Is configured to perform a flight.

無人飛行体２０は、例えば図１に示すように、放射状に配置される６個のローター２２を同時にバランスよく回転させることによって飛行する、例えばマルチローターヘリコプターと呼ばれる無人飛行体である。
尚、後述するように、無人飛行体２０の各ローター２２の回転中心軸２８と機体中心軸２１Ｃとが互いに平行である場合、各ローター２２の回転数を上げて各ローター２２を同じ回転数で回転させることで無人飛行体２０は機体中心軸２１Ｃを垂直に維持しながら上昇し、各ローター２２の回転数を下げて各ローター２２を同じ回転数で回転させることで無人飛行体２０は機体中心軸２１Ｃを垂直に維持しながら下降する。また、各ローター２２の回転数を異ならせて機体２１を傾けることで無人飛行体２０は水平面上を移動する水平移動動作を行うことが可能なように構成されている。 For example, as shown in FIG. 1, the unmanned air vehicle 20 is an unmanned air vehicle called a multi-rotor helicopter that flies by simultaneously rotating six rotors 22 arranged in a radial manner in a well-balanced manner.
As will be described later, when the rotation center axis 28 and the airframe center axis 21C of each rotor 22 of the unmanned air vehicle 20 are parallel to each other, the rotation speed of each rotor 22 is increased so that each rotor 22 has the same rotation speed. By rotating, the unmanned air vehicle 20 rises while maintaining the airframe center axis 21C vertically, and by rotating the rotors 22 at the same rotation speed by lowering the rotation speeds of the rotors 22, the unmanned aircraft 20 is centered on the airframe. The shaft 21C is lowered while keeping it vertical. In addition, the unmanned air vehicle 20 is configured to be able to perform a horizontal movement operation that moves on a horizontal plane by tilting the airframe 21 with different rotation speeds of the rotors 22.

機体２１は、例えば、上述した制御装置、ＧＰＳアンテナ、ＧＰＳモジュール等の制御系構成部品を搭載した機体中央部２３と、機体中央部２３より突出するように設けられたローター支持アーム部２４とを備えた構成である。ローター支持アーム部２４は、一端が機体中央部２３に連結された中空棒体２５と、中空棒体２５の他端に取り付けられたローターを回転可能に支持するローター支持部２６とを備えた構成である。ローター支持部２６は、例えば図外のモーターが収納されて固定されたケースにより構成され、このモーターの回転軸とローター２２の回転中心部２７とが連結されている。中空棒体２５内に配線されて制御線の一端が機体中央部内に導かれて制御装置と接続され、かつ、当該制御線の他端がローター支持部内に導かれてモーターと接続されることで、制御装置がローター２２の回転及び停止を制御可能に構成されている。
例えば、各ローター２２の回転中心軸２８は、互いに平行で、かつ、１つの円周上に位置され、１つの円周上に等しい間隔を隔てて設けられる。 The airframe 21 includes, for example, an airframe central portion 23 on which control system components such as the above-described control device, GPS antenna, and GPS module are mounted, and a rotor support arm portion 24 provided so as to protrude from the airframe central portion 23. This is a configuration provided. The rotor support arm portion 24 includes a hollow rod body 25 having one end connected to the airframe center portion 23 and a rotor support portion 26 that rotatably supports a rotor attached to the other end of the hollow rod body 25. It is. The rotor support portion 26 is constituted by, for example, a case in which a motor (not shown) is accommodated and fixed, and the rotation shaft of the motor and the rotation center portion 27 of the rotor 22 are connected. By being wired in the hollow rod 25, one end of the control line is led into the center of the fuselage and connected to the control device, and the other end of the control line is led into the rotor support and connected to the motor. The control device is configured to be able to control the rotation and stop of the rotor 22.
For example, the rotation center shafts 28 of the respective rotors 22 are parallel to each other and are located on one circumference and are provided at equal intervals on one circumference.

ランディングギア２９は、例えばローター支持アーム部２４に連結されて機体２１よりも下方に突出するように設けられ、着陸時に胴体をささえるとともに着陸時の衝撃を吸収するための部位である。   For example, the landing gear 29 is connected to the rotor support arm 24 and is provided so as to protrude downward from the airframe 21. The landing gear 29 is a part for supporting the fuselage at the time of landing and absorbing the impact at the time of landing.

撮影装置３０は、例えば機体２１の上方を撮影可能なように機体中央部２３の上面に設けられる。   The imaging device 30 is provided on the upper surface of the machine body central portion 23 so that, for example, the upper side of the machine body 21 can be photographed.

脚４０は、調査対象部１０に接触可能であるとともに調査対象部１０に接触した状態で調査対象部１０に押し付けられた場合に撓むように構成される。
脚４０は、一端が機体中央部２３の上面に連結された脚部４１と、脚部４１の他端に設けられた脚端部（脚４０の先端部）４２とを備えた構成である。
脚部４１は、可撓性を有した棒体、例えば１ｍｍ〜２ｍｍのピアノ線等により構成される。
脚端部４２は、例えば、面上を全方向に転動可能なように構成されたキャスター（車輪）により構成される。
脚４０は、例えばローター２２の数に対応した数だけ設けられる。例えば図１に示すように、６個のローター２２を備える場合、６本の脚４０を備え、各脚部４１は、一端がそれぞれ各ローター支持アーム部２４の一端の上方に位置するように設けられる。
各脚４０の脚部４１は、各ローター２２の回転中心軸２８が位置する上述した１つの円周を持つ円の中心を通過して前記回転中心軸２８と平行な機体中心軸２１Ｃを中心軸とする逆円錐の円錐面上に沿って上下方向に延長するように設けられている。
各脚端部４２の上端が、前記機体中心軸２１Ｃと直交する同一平面上に形成される当該同一平面と前記機体中心軸２１Ｃとの交差点を中心とする円の円周上に位置されるように構成されている。
即ち、脚４０は、無人飛行体２０の機体２１より上方に突出し、撮影用無人飛行体２が上昇して調査対象部１０としての構造物の下面まで移動した場合に、脚４０の上端部を形成する脚端部４２が当該調査対象部１０としての構造物の下面に接触可能に形成され、当該下面に接触した状態で当該下面に押し付けられた場合に撓むように構成されており、調査対象部１０としての下面上において撮影用無人飛行体２を移動させたい任意の方向とは反対側に位置する脚４０を撓ませて当該撮影用無人飛行体２の機体２１を傾けることによって当該撮影用無人飛行体２を任意の方向に推進させるための推進力Ｆが当該撮影用無人飛行体２に付与されるように構成されている。 The leg 40 is configured to be able to be in contact with the survey target unit 10 and bend when pressed against the survey target unit 10 in contact with the survey target unit 10.
The leg 40 is configured to include a leg portion 41 having one end connected to the upper surface of the airframe center portion 23 and a leg end portion (tip portion of the leg 40) 42 provided at the other end of the leg portion 41.
The leg portion 41 is configured by a flexible rod, for example, a 1 mm to 2 mm piano wire or the like.
The leg end part 42 is configured by, for example, a caster (wheel) configured to roll on the surface in all directions.
For example, as many legs 40 as the number of rotors 22 are provided. For example, as shown in FIG. 1, when six rotors 22 are provided, six legs 40 are provided, and each leg portion 41 is provided so that one end is located above one end of each rotor support arm portion 24. It is done.
The leg portion 41 of each leg 40 passes through the center of the circle having the one circumference described above where the rotation center axis 28 of each rotor 22 is located, and the machine body center axis 21C parallel to the rotation center axis 28 is the center axis. It is provided so as to extend in the vertical direction along the conical surface of the inverted cone.
The upper end of each leg end portion 42 is positioned on the circumference of a circle centered on the intersection of the same plane formed on the same plane orthogonal to the body center axis 21C and the body center axis 21C. It is configured.
That is, the leg 40 projects upward from the airframe 21 of the unmanned aerial vehicle 20, and when the unmanned aerial vehicle 2 for shooting is moved up and moved to the lower surface of the structure as the investigation target unit 10, the upper end of the leg 40 is moved. The leg end portion 42 to be formed is formed so as to be able to come into contact with the lower surface of the structure as the investigation target portion 10, and is configured to bend when pressed against the lower surface while being in contact with the lower surface. The unmanned shooting vehicle 2 is tilted by tilting the body 21 of the unmanned flying vehicle 2 for shooting by bending the leg 40 located on the opposite side to the arbitrary direction on which the shooting unmanned flying vehicle 2 is desired to move. A propulsive force F for propelling the flying object 2 in an arbitrary direction is applied to the unmanned flying object 2 for photographing.

次に、図２に基づき、撮影用無人飛行体２を用いた調査対象部１０の調査方法について説明する。
まず、撮影用無人飛行体２を調査対象部１０としての例えば橋梁床版の下面まで飛ばし、撮影用無人飛行体２の各脚４０の各脚端部４２が橋梁床版の下面と接触するように撮影用無人飛行体２をホバリングさせながら、撮影装置３０で当該橋梁床版の下面（調査対象部１０）の一部分を撮影する（図２（ａ）参照）。
その後、橋梁床版の下面において上述した一部分とは別の部分を撮影する場合に、撮影用無人飛行体２を移動させたい方向とは反対側に位置するローター２２の出力を増加させて出力を増加させたローター２２側を上昇させると、図２（ｂ）に示すように、当該上昇した側の脚４０の脚部４１が撓むことで機体２１が傾いて（例えば機体中心軸２１Ｃが橋梁床版の下面と垂直な状態から垂直でない状態に傾いて）ローター２２による揚力の反力が傾斜する（当該反力の方向が橋梁床版の下面と垂直な状態から垂直でない状態となる）ことで橋梁床版の下面と平行な推力成分による推進力Ｆが発生するため、橋梁床版の下面に沿って撮影用無人飛行体２を移動させたい方向に移動させることができる。
即ち、撮影用無人飛行体２を調査対象部１０まで飛行させて調査対象部１０に脚端部４２を接触させた状態で撮影用無人飛行体２を移動させたい任意の方向とは反対側に位置するローター２２の出力を増加させて脚４０を撓ませて機体２１を調査対象部１０としての橋梁床版の下面に平行な状態から傾けることで当該撮影用無人飛行体２に当該橋梁床版の下面（調査対象部１０）に沿った方向の推進力Ｆが付与され、撮影用無人飛行体２を移動させたい方向に移動させることができる。 Next, based on FIG. 2, the investigation method of the investigation object unit 10 using the photographing unmanned air vehicle 2 will be described.
First, the unmanned aerial vehicle for photographing 2 is blown to, for example, the lower surface of the bridge floor slab as the investigation target portion 10 so that each leg end portion 42 of each leg 40 of the unmanned aerial vehicle for photographing 2 is in contact with the lower surface of the bridge floor slab. While shooting the unmanned flying vehicle 2 for shooting, a part of the lower surface (investigation target portion 10) of the bridge floor slab is shot with the shooting device 30 (see FIG. 2A).
After that, when photographing a part other than the above-described part on the lower surface of the bridge deck, the output of the rotor 22 located on the opposite side to the direction in which the unmanned air vehicle 2 for photographing is desired to be moved is increased. When the increased rotor 22 side is raised, as shown in FIG. 2 (b), the body part 21 is tilted by bending the leg part 41 of the leg 40 on the raised side (for example, the body center axis 21C is a bridge). The lift reaction force of the rotor 22 is inclined (inclined from the state perpendicular to the lower surface of the floor slab) (the direction of the reaction force changes from the state perpendicular to the lower surface of the bridge floor slab to the non-perpendicular state). Since a thrust F is generated by a thrust component parallel to the lower surface of the bridge floor slab, the unmanned aerial vehicle for photographing 2 can be moved in the desired direction along the lower surface of the bridge floor slab.
In other words, the unmanned aerial vehicle for photographing 2 is made to fly to the survey target unit 10 and the unmanned aerial vehicle for photographing 2 is moved in a state opposite to the desired direction in a state where the leg end part 42 is in contact with the survey target unit 10. By increasing the output of the rotor 22 positioned to bend the leg 40 and tilting the airframe 21 from a state parallel to the lower surface of the bridge floor slab as the investigation target section 10, the unmanned air vehicle 2 for photographing is subjected to the bridge floor slab. Propulsive force F in the direction along the lower surface (investigation target portion 10) is applied, and the unmanned aerial vehicle for photographing 2 can be moved in a desired direction.

実施形態１の撮影用無人飛行体２によれば、３本以上の脚４０の脚端部４２を調査対象部１０に接触させた状態で調査対象部１０を撮影することができるので、調査対象部１０から離れて空中に浮いた状態で調査対象部を撮影する従来の撮影用無人飛行体と比べて、撮影用無人飛行体２が風を受けた場合でも、撮影用無人飛行体２の撮影姿勢が安定に維持され、調査対象部１０の撮影を安定に行うことができる撮影用無人飛行体２を得ることができる。
また、脚４０は、調査対象部１０に脚端部４２が接触した状態で調査対象部１０に押し付けられた場合に撓むように構成され、調査対象部１０上において撮影用無人飛行体２を移動させたい任意の方向とは反対側に位置する脚４０を撓ませて当該撮影用無人飛行体２の機体２１を傾けることによって当該撮影用無人飛行体２を任意の方向に推進させるための推進力が当該撮影用無人飛行体２に付与されるように構成されたので、調査対象部１０上において撮影用無人飛行体２を容易に移動させることが可能となる。特に、各脚４０の脚部４１が、機体中心軸２１Ｃを中心軸とする逆円錐の円錐面上に沿って上下方向に延長するように、機体中央部２３から上方に向けて放射状に設けられているため、脚４０を撓ませ易い構成となるので、撮影用無人飛行体２を移動させたい方向に移動させるための推進力Ｆが発生しやすくなり、調査対象部１０上において撮影用無人飛行体２をより容易に移動させやすくなる。
また、脚端部４２が、調査対象部１０上を転動可能な車輪（キャスター）を備えたので、調査対象部１０上において撮影用無人飛行体２をより容易に移動させることが可能となる。
また、脚４０は無人飛行体２の機体２１より上方に突出し、無人飛行体２０が上昇して橋梁床版の下面（構造物下面（調査対象部１０））まで移動した場合に、脚端部４２が当該橋梁床版の下面に接触するように構成されたので、当該橋梁床版の下面の撮影を安定に行え、かつ、当該橋梁床版の下面上で撮影用無人飛行体２を容易に移動させることが可能な撮影用無人飛行体２を提供できる。 According to the imaging unmanned air vehicle 2 of the first embodiment, the investigation target unit 10 can be photographed in a state where the leg end portions 42 of the three or more legs 40 are in contact with the investigation target unit 10. Shooting of the unmanned aerial vehicle for photographing 2 even when the unmanned aerial vehicle for photographing 2 receives a wind, compared to a conventional unmanned aerial vehicle for photographing in which the subject part is photographed while floating in the air away from the unit 10 The unmanned aerial vehicle for photographing 2 can be obtained in which the posture is stably maintained and the subject 10 can be photographed stably.
Further, the leg 40 is configured to bend when pressed against the investigation target unit 10 in a state where the leg end portion 42 is in contact with the investigation target unit 10, and moves the imaging unmanned aerial vehicle 2 on the investigation target unit 10. A propulsive force for propelling the unmanned aerial vehicle for photographing 2 in an arbitrary direction by bending the leg 40 located on the opposite side of the desired direction and tilting the body 21 of the unmanned aerial vehicle for photographing 2 is provided. Since the photographing unmanned air vehicle 2 is configured to be provided, the photographing unmanned air vehicle 2 can be easily moved on the investigation target unit 10. In particular, the leg portions 41 of each leg 40 are provided radially upward from the airframe central portion 23 so as to extend in the vertical direction along the conical surface of the inverted cone having the airframe central axis 21C as the central axis. Therefore, since the leg 40 is easily bent, a propulsive force F for moving the unmanned aerial vehicle for photographing 2 in the direction in which it is desired to move is likely to be generated, and the unmanned flying for photographing is performed on the investigation target portion 10. It becomes easier to move the body 2 more easily.
In addition, since the leg end portion 42 includes wheels (casters) that can roll on the investigation target unit 10, the imaging unmanned air vehicle 2 can be moved more easily on the investigation target unit 10. .
Further, the leg 40 protrudes upward from the airframe 21 of the unmanned air vehicle 2, and when the unmanned air vehicle 20 rises and moves to the lower surface of the bridge floor slab (the lower surface of the structure (the investigation target portion 10)), the leg end portion 42 is configured to come into contact with the lower surface of the bridge floor slab, so that the lower surface of the bridge floor slab can be stably photographed and the unmanned air vehicle 2 for photographing can be easily formed on the lower surface of the bridge floor slab. The unmanned air vehicle 2 for photographing that can be moved can be provided.

実施形態２
図３に示すように、実施形態１の脚部４１よりも撓みにくい脚部４１Ａと、脚部４１の他端に設けられた脚端部４２Ａと、一端が機体中央部の上面に連結されて他端が脚部４１Ａの一端と連結された可撓性連結部４３とを有した可撓性脚４０Ａを備えた撮影用無人飛行体２であってもよい。可撓性連結部４３としては、例えば、コイルばね、ゴム等の弾性体を用いればよい。
実施形態２の撮影用無人飛行体２の場合、可撓性連結部４３が撓むことで、実施形態１と同様な効果が得られる。 Embodiment 2
As shown in FIG. 3, a leg 41 </ b> A that is less flexible than the leg 41 of the first embodiment, a leg end 42 </ b> A provided at the other end of the leg 41, and one end are connected to the upper surface of the central part of the body. The unmanned aerial vehicle for photographing 2 including the flexible leg 40A having the flexible connecting portion 43 having the other end connected to one end of the leg portion 41A may be used. As the flexible connecting portion 43, for example, an elastic body such as a coil spring or rubber may be used.
In the case of the shooting unmanned air vehicle 2 according to the second embodiment, the flexible connecting portion 43 is bent, so that the same effect as that of the first embodiment can be obtained.

尚、脚端部４２は、調査対象部１０上を転動可能な車輪でなくても、調査対象部１０上を移動しやすい材料で形成されていればよい。   Note that the leg end portion 42 may be formed of a material that can easily move on the survey target portion 10, even if it is not a wheel that can roll on the survey target portion 10.

また、撮影用無人飛行体２は、脚４０を３本備えた構成の場合、安定性を得るために、３本の脚４０が、機体中心軸２１Ｃと直交する同一平面上に形成される当該同一平面と前記機体中心軸２１Ｃとの交差点を中心とする円の円周上に互いに等間隔を隔てて設けられていることが好ましい。また、この場合、調査対象部１０に沿って撮影用無人飛行体２を移動させたい方向に容易に移動させることができるように、３本の脚４０の位置に対応してローター２２を３つ備えた撮影用無人飛行体２とすることが好ましい。   In addition, in the case where the shooting unmanned air vehicle 2 has three legs 40, in order to obtain stability, the three legs 40 are formed on the same plane orthogonal to the airframe center axis 21C. It is preferable that they are provided at equal intervals on the circumference of a circle centered on the intersection of the same plane and the aircraft center axis 21C. Further, in this case, three rotors 22 are provided corresponding to the positions of the three legs 40 so that the photographing unmanned air vehicle 2 can be easily moved along the survey target portion 10 in the desired direction. It is preferable that the photographing unmanned air vehicle 2 is provided.

また、無人飛行体２０の機体２１より下方に突出する３本以上の脚４０を設けるとともに、機体２１の下面に撮影装置３０を設けることで、調査対象部１０としての上面を撮影及び当該上面上を移動可能なように構成された撮影用無人飛行体２としてもよいし、無人飛行体２０の機体２１より横方向に突出する３本以上の脚４０を設けるとともに、機体２１の側面に撮影装置３０を設けることで、調査対象部１０としての縦面を撮影及び当該縦面上を移動可能なように構成された撮影用無人飛行体２としてもよい。   Further, by providing three or more legs 40 projecting downward from the airframe 21 of the unmanned air vehicle 20, and by providing the imaging device 30 on the lower surface of the airframe 21, the upper surface as the investigation target unit 10 is photographed and The unmanned aerial vehicle 2 can be configured to be movable, or three or more legs 40 projecting laterally from the airframe 21 of the unmanned aircraft 20 are provided, and the imaging device is provided on the side surface of the airframe 21. By providing 30, it is good also as the imaging | photography unmanned air vehicle 2 comprised so that a vertical surface as the investigation object part 10 was image | photographed and it can move on the said vertical surface.

実施形態３
次に図４に基づいて上述した撮影用無人飛行体２備えた無人飛行撮影装置１について説明する。
無人飛行撮影装置１、上述した撮影用無人飛行体２と、撮影用無人飛行体２から離れた地面、道路、床等の設置面３に設置された外部電源４と、撮影用無人飛行体２に搭載された図外の電気機器と外部電源４とを接続した電線５と、外部電源４と撮影用無人飛行体２との間に設けられて電線５を支持する線支持用無人飛行体６と、線支持用無人飛行体６に搭載された図外の電気機器と外部電源４とを接続した電線７と、を備えて構成され、撮影用無人飛行体２を上述した調査対象部１０に近づくように飛行させて撮影用無人飛行体２に搭載されている撮影装置で調査対象部１０を撮影する装置である。 Embodiment 3
Next, the unmanned aerial photography apparatus 1 provided with the above-described unmanned aerial vehicle for photographing 2 will be described with reference to FIG.
Unmanned aerial photography device 1, the above-described unmanned aerial vehicle for photographing 2, an external power source 4 installed on an installation surface 3 such as the ground, road, floor, etc. away from the unmanned aerial vehicle for photographing 2, and unmanned aerial vehicle for photographing 2 A wire support unmanned air vehicle 6 that supports the electric wire 5 provided between the external power source 4 and the unmanned aerial vehicle for photographing 2 provided between the electric device (not shown) and the external power source 4. And an electric wire 7 connected to an unillustrated electric device mounted on the line supporting unmanned air vehicle 6 and the external power source 4. It is an apparatus that takes an image of the investigation object portion 10 with an imaging apparatus that is mounted on the imaging unmanned aerial vehicle 2 so as to fly closer.

線支持用無人飛行体６の機体を構成する無人飛行体は、撮影用無人飛行体２の無人飛行体２０と同じものを使用すればよい。   The unmanned air vehicle constituting the airframe of the line supporting unmanned air vehicle 6 may be the same as the unmanned air vehicle 20 of the shooting unmanned air vehicle 2.

撮影用無人飛行体２に搭載された電気機器は、ローター２２を回転させるモーター、撮影装置、その他、電源が必要な電気機器である。
線支持用無人飛行体６に搭載された電気機器は、ローター２２を回転させるモーター、その他、電源が必要な電気機器である。
外部電源４は、大型バッテリー、発電機、商用電源等である。 The electrical equipment mounted on the unmanned air vehicle 2 for photographing is a motor that rotates the rotor 22, a photographing device, and other electrical equipment that requires a power source.
The electric equipment mounted on the unmanned air vehicle 6 for supporting the line is a motor that rotates the rotor 22 and other electric equipment that requires a power source.
The external power source 4 is a large battery, a generator, a commercial power source, or the like.

図４に示すように、例えば、無人飛行撮影装置１が、１つの撮影用無人飛行体２と２つの線支持用無人飛行体６Ａ；６Ｂを用いて構成され、かつ、撮影用無人飛行体２に搭載された電気機器と設置面３に設置された外部電源４とを接続する電線５として１００ｍの長さの電源ケーブルを用いる場合について説明する。   As shown in FIG. 4, for example, the unmanned aerial photography device 1 is configured using one photographing unmanned aerial vehicle 2 and two line supporting unmanned aerial vehicles 6 </ b> A; 6 </ b> B, and the photographing unmanned aerial vehicle 2. A case where a power cable having a length of 100 m is used as the electric wire 5 for connecting the electric device mounted on the apparatus and the external power source 4 installed on the installation surface 3 will be described.

この場合、例えば、当該電線５の一端に設けられた図外のコネクタが外部電源４の図外のコネクタに接続された電源接続箇所５ａから３５ｍ離れた箇所を１つ目の線支持用無人飛行体６Ｂに固定するとともに、当該電線５の電源接続箇所５ａから７０ｍ離れた箇所を２つ目の線支持用無人飛行体６Ａに固定し、当該電線５の他端に設けられた図外のコネクタを撮影用無人飛行体２に搭載された図外の電気機器のコネクタに接続する。
また、２つ目の線支持用無人飛行体６Ａに搭載された電気機器と外部電源４とを接続する電線７Ａとして７０ｍ以上の長さの電源ケーブルを用い、当該電線７Ａの一端に設けられた図外のコネクタが外部電源４の図外のコネクタに接続された電源接続箇所７ａから３５ｍ離れた箇所を１つ目の線支持用無人飛行体６Ｂに固定するとともに、当該電線７Ａの他端に設けられた図外のコネクタを２つ目の線支持用無人飛行体６Ａに搭載された図外の電気機器のコネクタに接続する。
さらに、１つ目の線支持用無人飛行体６Ｂに搭載された電気機器と外部電源４とを接続する電線７Ｂとして３５ｍ以上の長さの電源ケーブルを用い、当該電線７Ｂの一端に設けられた図外のコネクタが外部電源４の図外のコネクタに接続され、かつ、当該電線７Ｂの他端に設けられた図外のコネクタを１つ目の線支持用無人飛行体６Ｂに搭載された図外の電気機器のコネクタに接続する。 In this case, for example, an unmanned flight for supporting the first line is made at a location 35 m away from the power supply connection location 5 a where the unillustrated connector provided at one end of the electric wire 5 is connected to the unillustrated connector of the external power supply 4. An unillustrated connector provided on the other end of the electric wire 5, fixed to the body 6 </ b> B, and fixed to a second line supporting unmanned air vehicle 6 </ b> A at a location 70 m away from the power connection location 5 a of the electric wire 5. Is connected to a connector of an electric device (not shown) mounted on the unmanned air vehicle 2 for photographing.
Further, a power cable having a length of 70 m or more was used as the electric wire 7A for connecting the electric device mounted on the second unmanned air vehicle 6A for supporting the line and the external power source 4, and provided at one end of the electric wire 7A. An unillustrated connector is fixed to the first line supporting unmanned air vehicle 6B at a position 35 m away from the power supply connecting portion 7a connected to the unillustrated connector of the external power source 4, and is connected to the other end of the electric wire 7A. The provided unillustrated connector is connected to a connector of an unillustrated electrical device mounted on the second line supporting unmanned aerial vehicle 6A.
Furthermore, a power cable having a length of 35 m or more was used as the electric wire 7B for connecting the electric device mounted on the first line supporting unmanned air vehicle 6B and the external power source 4, and provided at one end of the electric wire 7B. A diagram in which a connector (not shown) is connected to a connector (not shown) of the external power supply 4 and the connector (not shown) provided at the other end of the electric wire 7B is mounted on the first unmanned flying vehicle 6B for line support. Connect to the connector of an external electrical device.

以上のように構成された無人飛行撮影装置１を用いて調査対象部１０を撮影する場合について説明する。
各無人飛行体２；６Ａ；６Ｂを自律飛行させたり、あるいは、各無人飛行体２；６Ａ；６Ｂを遠隔操縦することによって、例えば図４に示すように、１つの撮影用無人飛行体２と２つの線支持用無人飛行体６Ａ；６Ｂとをそれぞれ個別に飛行させる。この場合、各無人飛行体２；６Ａ；６Ｂ間の距離が、各無人飛行体２；６Ａ；６Ｂ間の電線の長さ以上にならないように制御される。
即ち、撮影用無人飛行体２を調査対象部１０に近づくように飛行させ、当該撮影用無人飛行体２と２つ目の線支持用無人飛行体６Ａとの距離がこれら無人飛行体２；６Ａ間の電線５の長さ以上にならないようにして２つ目の線支持用無人飛行体６Ａが撮影用無人飛行体２に追従するように当該２つ目の線支持用無人飛行体６Ａを飛行させる。さらに、２つ目の線支持用無人飛行体６Ａと１つ目の線支持用無人飛行体６Ｂとの距離がこれら無人飛行体６Ａ；６Ｂ間の電線５や電線７Ａの長さ以上にならないようにして１つ目の線支持用無人飛行体６Ｂが２つ目の線支持用無人飛行体６Ａに追従するように当該１つ目の線支持用無人飛行体６Ｂを飛行させる。
そして、撮影用無人飛行体２は、調査対象部１０を撮影した後、当該撮影したデータを図外の撮影データ収集装置に送る。検証者は、撮影データ収集装置に送られてきた撮影データを検証して調査対象部１０の補修等が必要か否かを判断する。 The case where the investigation object part 10 is image | photographed using the unmanned flight imaging device 1 comprised as mentioned above is demonstrated.
For example, as shown in FIG. 4, each unmanned air vehicle 2; 6 </ b>A; 6 </ b> B can autonomously fly, or each unmanned air vehicle 2; 6 </ b>A; Two line supporting unmanned aerial vehicles 6A and 6B are caused to fly individually. In this case, the distance between the unmanned aerial vehicles 2; 6A; 6B is controlled so as not to exceed the length of the electric wire between the unmanned aerial vehicles 2; 6A; 6B.
That is, the imaging unmanned aerial vehicle 2 is caused to fly closer to the investigation target unit 10 and the distance between the imaging unmanned aerial vehicle 2 and the second line supporting unmanned aerial vehicle 6A is determined by the unmanned aerial vehicle 2; The second line supporting unmanned aerial vehicle 6A flies so that the second line supporting unmanned air vehicle 6A follows the photographing unmanned air vehicle 2 so as not to exceed the length of the electric wire 5 between them. Let Further, the distance between the second line supporting unmanned aerial vehicle 6A and the first line supporting unmanned aerial vehicle 6B does not exceed the length of the electric wire 5 and the electric wire 7A between the unmanned air vehicles 6A and 6B. Then, the first line supporting unmanned aerial vehicle 6B is caused to fly so that the first line supporting unmanned aerial vehicle 6B follows the second line supporting unmanned aerial vehicle 6A.
Then, the unmanned aerial vehicle for imaging 2 captures the survey target unit 10 and then transmits the captured data to an imaging data collection device (not shown). The verifier verifies the photographic data sent to the photographic data collection device, and determines whether or not the investigation target unit 10 needs to be repaired.

無人飛行撮影装置１によれば、撮影用無人飛行体２に搭載された電気機器に外部電源４から電気を供給し続けることが可能となるので、撮影用無人飛行体２に搭載された撮影装置による長時間撮影が可能となる。従って、調査対象部１０の調査をより正確、かつ、精密に行うことが可能となる。   According to the unmanned aerial photography device 1, it is possible to continue to supply electricity from the external power source 4 to the electrical equipment mounted on the unmanned aerial vehicle 2 for photographing. Long time shooting is possible. Therefore, the survey of the survey target unit 10 can be performed more accurately and precisely.

実施形態４
撮影用無人飛行体２に搭載された図外の制御装置と撮影用無人飛行体２の図外の遠隔操縦装置とを接続する図外の操縦用信号線、及び、撮影用無人飛行体２に搭載された図外の撮影装置と撮影用無人飛行体２から離れた位置に設けられた図外の撮影データ収集装置とを接続する図外の撮影データ用信号線のうちの１つ以上の信号線を備え、当該１つ以上の信号線が線支持用無人飛行体６によって支持された構成とすることで、高度な操縦や大量の撮影データの転送が可能となり、調査対象部１０の調査をより正確、かつ、より精密に行うことが可能となる。 Embodiment 4
An unillustrated control signal line for connecting an unillustrated control device mounted on the imaging unmanned aerial vehicle 2 to an unillustrated remote control device for the unmanned imaging vehicle 2 and an unmanned aerial vehicle 2 for imaging. One or more signals of unillustrated image data signal lines for connecting an unillustrated image capturing device and an unillustrated image capturing data collecting device provided at a position away from the unmanned imaging vehicle 2 for image capturing By providing a structure in which the one or more signal lines are supported by the line supporting unmanned aerial vehicle 6, advanced maneuvering and transfer of a large amount of imaging data can be performed. It becomes possible to carry out more accurately and precisely.

実施形態５
無人飛行体に、電線が巻出し可能に巻取られたリール（巻取枠）を用いるようにしてもよい。例えば、線支持用無人飛行体６Ａや線支持用無人飛行体６Ｂに電線が巻出し可能に巻取られたリールを設けるようにすれば、撮影用無人飛行体２にリール（巻取枠）を設ける場合に比べて撮影用無人飛行体２を軽量化できるので好ましい。 Embodiment 5
You may make it use the reel (winding frame) by which the electric wire was wound up to the unmanned air vehicle. For example, if a reel on which a wire is wound so as to be unwound can be provided on the unmanned flying vehicle 6A for line support or the unmanned flying vehicle 6B for line support, a reel (winding frame) is provided on the unmanned flying vehicle 2 for photographing. This is preferable because the unmanned flying vehicle 2 for photographing can be reduced in weight compared to the case where it is provided.

尚、撮影用無人飛行体２、及び、線支持用無人飛行体６の機体を構成する無人飛行体は、上述したマルチローターヘリコプターに限らず、空中において静止、又は、静止状態に近い飛行が可能な無人飛行体であれば良い。   The unmanned aerial vehicles constituting the unmanned aerial vehicle 2 for shooting and the unmanned aerial vehicle 6 for line support are not limited to the multirotor helicopter described above, and can fly in the air or close to a stationary state. Any unmanned air vehicle can be used.

２ 撮影用無人飛行体、１０ 調査対象部、２０ 無人飛行体、２１ 機体、
３０ 撮影装置、４０ 脚、４２ 脚端部。 2 Unmanned aerial vehicles for shooting, 10 surveyed parts, 20 unmanned aerial vehicles, 21 aircraft,
30 imaging devices, 40 legs, 42 leg ends.

Claims (4)

無人飛行体と、無人飛行体に搭載された撮影装置と、無人飛行体に設けられた３本以上の脚とを備え、飛行しながら調査対象部を撮影する撮影用無人飛行体であって、
調査対象部に脚の脚端部を接触させた状態で調査対象部を撮影することにより、調査対象部に対する撮影姿勢を維持可能なように構成されたことを特徴とする撮影用無人飛行体。 An unmanned aerial vehicle, an imaging device mounted on the unmanned aerial vehicle, and three or more legs provided on the unmanned aerial vehicle, the unmanned aerial vehicle for photographing a research target part while flying,
A photographing unmanned air vehicle configured to be able to maintain a photographing posture with respect to a research target part by photographing the research target part in a state where the leg end portion of the leg is in contact with the research target part. 脚は、調査対象部に脚端部が接触した状態で調査対象部に押し付けられた場合に撓むように構成され、調査対象部上において撮影用無人飛行体を移動させたい任意の方向とは反対側に位置する脚を撓ませて当該撮影用無人飛行体の機体を傾けることによって当該撮影用無人飛行体を任意の方向に推進させるための推進力が当該撮影用無人飛行体に付与されるように構成されたことを特徴とする請求項１に記載の撮影用無人飛行体。   The leg is configured to bend when pressed against the investigation target part with the leg end in contact with the investigation target part, and on the opposite side to any direction in which the unmanned air vehicle for imaging is to be moved on the investigation target part The driving force for propelling the unmanned aerial vehicle for photographing in any direction is applied to the unmanned aerial vehicle for photographing by bending the leg located at the position of the aircraft and tilting the airframe of the unmanned air vehicle for photographing. The unmanned aerial vehicle for photographing according to claim 1, which is configured. 脚端部は、調査対象部上を転動可能な車輪を備えたことを特徴とする請求項１又は請求項２に記載の撮影用無人飛行体。   The unmanned aerial vehicle for photographing according to claim 1 or 2, wherein the leg end portion includes a wheel that can roll on the investigation target portion. 脚は無人飛行体の機体より上方に突出し、無人飛行体が上昇して調査対象部としての構造物の下面まで移動した場合に、脚端部が当該下面に接触するように構成されたことを特徴とする請求項１乃至請求項３のいずれか一項に記載の撮影用無人飛行体。   The leg protrudes above the airframe of the unmanned aerial vehicle, and when the unmanned aerial vehicle rises and moves to the lower surface of the structure as the investigation target part, the leg end is configured to come into contact with the lower surface. The unmanned aerial vehicle for photographing according to any one of claims 1 to 3.
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